mirror of
https://github.com/digistump/DigistumpArduino.git
synced 2025-04-28 07:39:02 -07:00
60 lines
2.7 KiB
C++
60 lines
2.7 KiB
C++
#ifndef SoftRcPulseOut_h
|
|
#define SoftRcPulseOut_h
|
|
|
|
/*
|
|
Update 01/03/2013: add support for DigiSpark (http://digistump.com): automatic Timer selection (RC Navy: p.loussouarn.free.fr)
|
|
|
|
English: by RC Navy (2012)
|
|
=======
|
|
<SoftRcPulseOut>: a library mainly based on the <SoftwareServo> library, but with a better pulse generation to limit jitter.
|
|
It supports the same methods as <SoftwareServo>.
|
|
It also support Pulse Width order given in microseconds. The current Pulse Width can also be read in microseconds.
|
|
The refresh method can admit an optionnal argument (force). If SoftRcPulseOut::refresh(1) is called, the refresh is forced even if 20 ms are not elapsed.
|
|
http://p.loussouarn.free.fr
|
|
|
|
Francais: par RC Navy (2012)
|
|
========
|
|
<SoftRcPulseOut>: une librairie majoritairement basee sur la librairie <SoftwareServo>, mais avec une meilleure generation des impulsions pour limiter la gigue.
|
|
Elle supporte les memes methodes que <SoftwareServo>.
|
|
Elle supporte egalement une consigne de largeur d'impulsion passee en microseconde. La largeur de l'impulsion courante peut egalement etre lue en microseconde.
|
|
La methode refresh peut admettre un parametre optionnel (force). Si SoftRcPulseOut::resfresh(1) est appelee, le refresh est force meme si 20 ms ne se sont pas ecoulee.
|
|
http://p.loussouarn.free.fr
|
|
*/
|
|
|
|
#if defined(ARDUINO) && ARDUINO >= 100
|
|
#include "Arduino.h"
|
|
#else
|
|
#include "WProgram.h"
|
|
#endif
|
|
|
|
#include <inttypes.h>
|
|
|
|
class SoftRcPulseOut
|
|
{
|
|
private:
|
|
boolean ItMasked;
|
|
uint8_t pin;
|
|
uint8_t angle; // in degrees
|
|
uint16_t pulse0; // pulse width in TCNT0 counts
|
|
uint8_t min16; // minimum pulse, 16uS units (default is 34)
|
|
uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150)
|
|
class SoftRcPulseOut *next;
|
|
static SoftRcPulseOut* first;
|
|
public:
|
|
SoftRcPulseOut();
|
|
uint8_t attach(int); // attach to a pin, sets pinMode, returns 0 on failure, won't
|
|
// position the servo until a subsequent write() happens
|
|
void detach();
|
|
void write(int); // specify the angle in degrees, 0 to 180
|
|
void write_us(int); // specify the angle in microseconds, 500 to 2500
|
|
uint8_t read(); // return the current angle
|
|
uint8_t read_us(); // return the current pulse with in microseconds
|
|
uint8_t attached();
|
|
void setMinimumPulse(uint16_t); // pulse length for 0 degrees in microseconds, 540uS default
|
|
void setMaximumPulse(uint16_t); // pulse length for 180 degrees in microseconds, 2400uS default
|
|
static uint8_t refresh(bool force = false); // must be called at least every 50ms or so to keep servo alive
|
|
// you can call more often, it won't happen more than once every 20ms
|
|
};
|
|
|
|
#endif
|